Wear assembly removal and installation

ABSTRACT

A process and tool for installing and removing various kinds of wear parts used with earth working equipment. The process and tool allows the operator to remove and install the wear parts at a safe distance so that the operator is physically remote from the potential risks of the removal and installation process. The tool may be manually operated via an operator or the tool may be a semi-automated or fully automated.

RELATED APPLICATION

This application claims priority benefits to U.S. patent applicationSer. No. 14/520,143, filed Oct. 21, 2014, and entitled, “WEAR ASSEMBLYREMOVAL AND INSTALLATION,” and U.S. Provisional Patent Application No.61/893,833 filed Oct. 21, 2013 and entitled “Automated Wear AssemblyRemoval and Installation,” both of which are incorporated herein byreference in its entirety.

FIELD OF THE INVENTION

The present invention pertains to a removal and/or installation tool andprocess for wear assemblies used on various kinds of earth workingequipment.

BACKGROUND OF THE INVENTION

In mining and construction, wear parts are commonly provided along thedigging edge of excavating equipment such as buckets for draglinemachines, cable shovels, face shovels, hydraulic excavators, bucketwheel excavators, and the like. The wear parts protect the underlyingequipment from undue wear and, in some cases, also perform otherfunctions such as breaking up the ground ahead of the digging edge.During use, the wear parts typically encounter heavy loading and highlyabrasive conditions. As a result, they must be periodically replaced.

These wear parts usually comprise two or more components such as a basethat is secured to the digging edge, and a wear member that mounts onthe base to engage the ground. The wear member tends to wear out morequickly and is typically replaced a number of times before the base(which can also be a replaceable wear member) must also be repaired orreplaced. One example of such a wear part is an excavating tooth that isattached to the lip of a bucket for an excavating machine. A toothtypically includes an adapter secured to the lip of a bucket and a pointattached to the adapter to initiate contact with the ground. A pin orother kind of lock is used to secure the point to the adapter.

Often the wear parts are used on earth working equipment operated inremote locations. Getting new wear parts to the remote locations andinstalled on the earth working equipment can be difficult. For example,in a mining environment, the wear parts needing replacement may be onearth working equipment that cannot be easily moved to a maintenancefacility when routine maintenance is required. Because of this, the wearparts are generally replaced while the earth working equipment is in thefield. When the wear parts are replaced in the field, the environment inwhich the wear parts need to be replaced may be subjected to extremeenvironments. For example, the temperature may be extremely cold (e.g.,freezing) or extremely hot, it may be snowing, sleeting, raining, orwindy and the ground may be muddy, un-level, and/or unstable. Inaddition, the environment may be dusty which can pose health risks tooperators. Thus the environment in which the wear parts must be replacedis varied and the environment is often difficult and/or unpredictable.

These wear parts are heavy and cannot be easily lifted by the installer,this increases the difficulty of replacing the wear parts. New wearparts are typically designed with cast lifting eyes integrally connectedto the wear parts. A rigging system is attached to the lifting eyes toassist in lifting the wear parts during installation. However, theinstaller can still be in potential risk if the rigging arrangements areunsecure and slip or create pinch points. The installer maneuvers thewear part onto the excavating equipment. Once the wear part is fit onthe excavating equipment the wear part is secured in place. Variousmethods known in the industry may be used to secure the wear parts inplace. For example, the wear parts may be secured or locked to theexcavating equipment with the use, e.g., of welds, bolts, wedges, orthreaded members. The locking mechanisms require the installer to comein close proximity to the wear parts before the wear part is secured.Regardless of whether the wear part is attached to the rigging system atthe time of installation, the potential for the wear part to separatefrom the excavating equipment and fall or swing prior to implementingthe locking mechanism places the installer in potential risk.

As the wear parts contact the material to be excavated the integrallifting eyes are worn away leaving no way to gain an attachment point onthe worn wear part. To remove the worn wear part some operators simplylet the parts fall to the ground when the lock is removed, or use ahammer to knock the wear part from the base if fines prevent the releaseof the components. The uncontrolled falling of the wear part and the useof a hammer subject the operators to risks. Moreover, the operators arestill left with needing to remove the wear parts from the ground to adiscard pile or bin. Another common way to remove the worn wear parts iswith a complex rigging arrangement using chains, straps, or othermechanisms to secure the wear part. However, during removal, theinstaller can still be in potential risk if the rigging arrangements areunsecure and slip or create pinch points. Additionally riggingarrangements that require chains, straps, or other mechanisms to gounder the worn wear parts can be problematic when rigging is removed.Once the wear part is moved to the discard pile the rigging arrangementsmay be under the wear part requiring the operator roll or move the wornwear part to remove the rigging arrangement. The potential for the wearpart to pinch or otherwise harm the operator as the heavy piece isrolled or moved off of the rigging arrangement places the operator inpotential risk. Another alternative way to maneuver the worn wear partis to weld a lifting ring onto the part. This is not desirable becausemobile welding equipment is needed at the machine site. In addition,wear parts tend to be composed of very hard steel which requires acareful and time consuming process to achieve a high quality weld. Ifthere is a poor weld the lifting eye may be separated from the wear partcausing uncontrolled movement of the wear part which becomes a potentialrisk to the installer.

SUMMARY OF THE INVENTION

The present invention pertains to a process for installing and removingvarious kinds of wear members used with earth working equipmentincluding, for example, excavating equipment. With the presentconstruction, the installer uses a tool to install and remove the wearparts quickly and safely. The tool is especially beneficial in a miningenvironment which can be varied and unpredictable resulting in anenvironment where the process for installing and removing wear parts canbe difficult and hazardous to complete. The tool allows the installer tobe remote from the wear parts, i.e., physically spaced a distance fromthe potential risks as the wear parts are removed from and/or installedonto the excavating equipment. The tool may be manually operated via anoperator or the tool may be a semi-automated or fully automated tool.

In accordance with one aspect of the invention, a tool includes at leastone auxiliary tool to hold a wear member, at least one manipulator tomanipulate the auxiliary tool to engage and remove the wear member fromearth working equipment, a controller, and a mobile base to move thetool to the earth working equipment. Such a tool can be used throughouta mine and/or moved to convenient locations to accommodate the removalof wear members from equipment that may be used in different locationsor to service a number of different equipment operating at a mine.

In accordance with another aspect of the invention, a tool includes atleast one auxiliary tool, at least one manipulator to movably supportthe auxiliary tool, an input device for receiving data regarding earthworking equipment, and a controller that operates the auxiliary tool(s)and manipulator(s) based on the received data. Such a tool can easilyaccommodate a wide variety of earth working equipment, wear members or avaried of circumstances that may be faced at a mine or other variablework environment.

In accordance with another aspect of the invention, a tool includes acartridge to receive and hold a wear member mounted on earth workingequipment, a manipulator to movably support the cartridge, and acontroller to operate the manipulator to place the wear member in thecartridge and remove it from the earth working equipment. The cartridgeprovides a secure and uniform manner of holding and removing the wearmember with a high degree of safety.

In accordance with another aspect of the invention, a tool secures agripping member to the wear member to facilitate holding and removingthe wear member from earth working equipment, a manipulator movablysupporting an auxiliary tool that secures the gripping member, and acontroller. The use of a gripping member enables the tool to securelyhold a wide variety of wear members with a uniform engaging structure.

In accordance with another aspect of the invention, a tool includes atleast one auxiliary tool to release a hammerless retainer holding a wearmember to earth working equipment, at least one manipulator movablysupporting the auxiliary tool, and a controller. In this way, theremoval of wear members, especially large wear members such as used in amining operation, that utilize hammerless locks can be accomplished withthe user remotely located to further reduce hazards associated withremoval and installation of such wear members.

In accordance with another aspect of the invention, a tool includes asingle manipulator that movably support at least one auxiliary tool toremove and install wear members on earth working equipment, and acontroller. Such a tool is efficient in size and usage of the componentsof the tool to accomplish, e.g., a replacement of worn wear members withfresh replacement wear members.

In accordance with another aspect of the invention, a tool includes amanipulator movably supporting an auxiliary tool for holding andremoving a wear member from earth working equipment, and a controller tooperate the tool at least partially manually by a remote user toincrease the safety of removing wear members, and especially large wearmembers such as used in a mine, from earth working equipment.

In accordance with another aspect of the invention, a mining tool forremoving a wear member from earth working equipment used in a mineincludes at least one auxiliary tool for releasing a retainer securingthe wear member to the earth working equipment, at least one manipulatorsupporting the auxiliary tool, and a controller to operate the auxiliarytool(s) and manipulator(s).

In accordance with one aspect of the invention, a tool is brought toearth working equipment to remove and/or replace a wear member in such amanner that the operator is remote from the wear part through at leastpart of the process to increase safety for the users. The ability tomove the tool allows the tool to be used with various kinds of earthworking equipment that may not be easily moved to a maintenance facilityand to service multiple numbers and/or kinds of equipment. The toolallows the wear parts to be replaced even when the earth workingequipment is located in the field. In one preferred construction, thetool is operated by an operator. In another preferred construction, thetool is semi-automated and is able to complete portions of theinstallation and removal process without an operator. In anotherpreferred construction, the tool is fully automated and does not requirean operator to complete the removal and installation of worn wear parts.

In accordance with another aspect of the invention, a tool includes amanipulator and a controller to remove and/or install a wear member onearth working equipment. In one preferred construction, an operator usesa user input device to remotely control the manipulator. In anotherpreferred construction, the controller uses programmable logic tocomplete portions or all of the removal and/or installation processwithout an operator. In one preferred construction, the manipulator is aservo-electric manipulator. In another preferred construction, themanipulator is a hydraulic manipulator. In another preferredconstruction, the manipulator is pneumatic.

In accordance with another aspect of the invention, a tool is secured ina fixed location and earth working equipment is brought to the tool whenwear parts need replacement. This allows earth working equipment thatcan easily be moved from one location to another to be brought to amaintenance facility where the environment can more easily becontrolled.

In accordance with another aspect of the invention, a tool references adatabase to identify what type of wear parts are currently installed onexcavating equipment. In one preferred construction, the tool referencesthe database remotely. In other constructions, the data for the databasecan be provided by, e.g., elements on the equipment (such as bar codes,QR codes, transmittors, etc.), wear identification devices on theequipment, mobile data collection devices, the tool or other devices,within the controller on the tool, manually inputted by a user, etc.

In accordance with another aspect of the invention, a tool receivesinformation from an encoding element attached to excavating equipment.The encoded mechanism may include information on the bucket serialnumber, the capacity of the bucket, the excavating machine that thebucket is installed on, and the type of wear parts currently installedon the excavating equipment. In one preferred construction, the encodingelement is a Radio-Frequency Identification (RFID). In another preferredconstruction, the encoding element is a barcode. In another preferredconstruction, the barcode is a Quick Response (QR) Code. In anotherpreferred construction, the encoding element is located on an excavatingbucket.

In accordance with another aspect of the invention, a tool receivesinformation from a wear part monitoring unit to identify what type ofwear parts are currently installed on excavating equipment. The wearpart monitoring unit is a system to monitor the health of wear parts onthe excavating equipment.

In accordance with another aspect of the invention, a tool receivesinformation from a wear part monitoring unit to identify what wear partsneed replacement on an excavating machine.

In accordance with another aspect of the invention, a tool receivesinformation from sensors of a wear part monitoring unit to assist thetool in locating the wear parts needing replacement and assist the toolwhen installing the new wear parts on the earth working equipment.

In accordance with another aspect of the invention, a tool communicateswith a database to record information about a process completed by thetool. In one preferred construction the tool communicates at least oneof: i) the time and date that the wear parts were removed and replaced,ii) how long the change-out of the wear parts took, iii) machine thewear parts were installed on, iv) type of wear parts replaced andinstalled, v) torque needed to remove a securement mechanism holding thewear part to the earth moving equipment, vi) torque used to installsecurement mechanism to hold the wear part to the earth movingequipment, and vii) the geographic location of where the wear parts werereplaced.

In accordance with another aspect of the invention, a tool determinesthe orientation and location of a wear part on excavating equipmentneeding replacement using sensors. The sensors allow the tool to knowthe location and orientation of the wear parts even when the earthworking equipment may be located on un-level ground and the wear partshave various orientations relative to the ground. In one preferredconstruction, the sensors are passive. In another preferredconstruction, the sensors are active. In another preferred construction,the sensors are chosen from a group including receivers, transmitters,and/or digital sensors. In another preferred construction, GlobalPositioning System (GPS) receivers are used to locate the wear part. Inanother preferred construction, electromagnetic wave receivers andtransmitters are used to locate the wear part needing replacement. In apreferred construction the electromagnetic waves have a wavelengthgreater than the visible spectrum (e.g., infrared, microwave, or RadioFrequency [RF]). In another preferred construction, mechanical wavereceivers and transmitters are used to locate the wear part needingreplacement. In a preferred construction the mechanical waves are in theultrasonic spectrum. In another preferred construction, laser receiversand transmitters are used to locate the wear part needing replacement.In one preferred construction, a digital inclinometer unit and a digitalcompass are used to determine the orientation and location of the wearpart needing replacement. In one preferred construction, a camera andvision recognition software are used to identify the excavatingequipment and determine the orientation and location of the wear partneeding replacement.

In accordance with another aspect of the invention, a tool uses anautomated or semi-automated process for removing and installing a wearpart from excavating equipment operates autonomously and is also capableof being operated by an operator with a user input device. Allowing theautomated tool to be operated by the operator allows other functions ofthe automated process to operate more efficiently. In addition the userinput device allows the automated process to continue should theautomated tool encounter an error. In one preferred construction, theuser input device has haptic, visual, or audible feedback. In onepreferred construction, the user input device is a joystick. In anotherpreferred construction, the user input device is an operator physically(e.g., with their hands) guiding the manipulator to the desiredpositions. In another preferred construction, the user input device is awearable user interface.

In accordance with another aspect of the invention, a tool is automatedto determine if a wear part is appropriately oriented for removal byobtaining the wear part orientation and location from a digital sensor.In one preferred construction, a digital inclinometer unit is used todetermine the tilt of the wear parts needing replacement. In onepreferred construction, a camera and vision recognition software areused to identify the excavating equipment and determine if the wear partneeding replacement is appropriately oriented for removal.

In accordance with another aspect of the invention, a tool includes aplurality of arms that are used to secure at least two opposing sides ofthe wear member. In one preferred construction, the multi-arm tool hasat least two arms. In another preferred construction, the multi-arm toolhas at least three arms. Two arms contact the sides of the wear memberand one arm contacts the bottom of the wear member to secure the wearmember to the tool.

In accordance with another aspect of the invention, a tool includes twoor more auxiliary tools (or sub-tools) that are combined into a singlemulti-purpose tool. In one preferred construction, a first auxiliarytool secures the wear member and a second auxiliary tool removes thesecurement mechanism or retainer holding the wear member to the base.

In accordance with another aspect of the invention, a tool includes amanipulator provided with an auxiliary tool (or sub-tool) that has anadjustment mechanism so that the tool can be adjusted without adjustingthe orientation of the manipulator.

In accordance with another aspect of the invention, a magnetic strap isused to ensure that a wear part to be replaced does not prematurelybecome disengaged from excavating equipment. In one preferredconstruction, the magnetic strap utilizes at least one air actuatedpermanent magnet.

In accordance with another aspect of the invention, a tool includes twoauxiliary tools to remove and install a wear part, a first auxiliarytool to secure the wear part from falling and a second auxiliary tool toengage and disengage the wear part from a base. In a preferredconstruction, the first and second auxiliary tools are both supported bymanipulators.

In accordance with another aspect of the invention, a manipulator withtwo arms is used to remove and install a wear part, a first arm tosecure the wear part from falling and a second arm to engage anddisengage the wear part from a base.

In accordance with another aspect of the invention, a tool is automatedand uses multiple auxiliary tools to perform an automated process forremoving and installing wear parts secured to excavating equipment.

In accordance with another aspect of the invention, a tool uses anadjustable multi-jaw gripper to secure a wear part from falling off of abase attached to excavating equipment.

In accordance with another aspect of the invention, a cartridge fitsaround a wear part and secures the wear part for removal. In onepreferred construction, the cartridge is secured to an automated tool.In another preferred construction, the cartridge is secured to a toolthat requires an operator to maneuver the cartridge. In anotherpreferred construction, the wear parts needing replacement are broughtto the cartridge.

In accordance with another aspect of the invention, locators or guidesare secured to interior walls of a cartridge to assist in properlypositioning a wear part within the cartridge.

In accordance with another aspect of the invention, a cartridge is usedfor shipping, storing, installing, and removing a wear part.

In accordance with another aspect of the invention, a cartridge has atleast one attachment mechanism for lifting the cartridge, for rotatingthe cartridge, for pulling the cartridge, or for pushing the cartridge.An attachment mechanism that can be lifted, pulled, or pushed allows awear part secured within the cartridge to be installed and removed froma base secured to excavating equipment.

In accordance with another aspect of the invention, a tool usespressurized fluid to remove fines from a wear part. In one preferredconstruction, pressurized air with or without suspended abrasive grainsis used to remove fines. In another preferred construction, pressurizedliquid is used to remove fines.

In accordance with another aspect of the invention, a tool uses avibrator to remove fines from a wear part. In one preferredconstruction, the vibrator is secured to the wear part with at least oneelectromagnet, electrically re-polarized permanent magnet, or airactuated permanent magnet. In one preferred construction, the vibratoris isolated from the tool so that the vibrations do not negativelyaffect the tool.

In accordance with another aspect of the invention, a tool secures agripping piece to a securement mechanism, such as a hammerless retainer,and uses the newly attached piece to remove the securement mechanismfrom the wear part. In one preferred construction, the tool uses a stud,a stud welder and a pneumatic wrench or hydraulic wrench to remove thesecurement mechanism.

In accordance with another aspect of the invention, a tool uses forcecontrol and a tool that matches an opening in a securement mechanism tolocate, create a positive engagement with the securement mechanism,remove, and install the securement mechanism.

In accordance with another aspect of the invention, a tool uses a cutterto remove the securement mechanism. In one preferred construction, thecutter is an arc cutter. In another preferred construction, the cutteris a waterjet cutter. In another preferred construction the cutter isspun in a circle to remove the securement mechanism. In anotherpreferred construction, only a portion of the securement mechanism iscut. In another preferred construction, the entire securement mechanismis completely cut away. In another preferred construction, the cutter isan electric air arc torch. In another preferred construction, the cutteris a laser.

In accordance with another aspect of the invention, a tool uses a magnetto remove the securement mechanism from a wear part and dispose of thesecurement mechanism in a disposal stall. In one preferred construction,the magnet is an air actuated permanent magnet, electromagnet, orelectrically re-polarized permanent magnet.

In accordance with another aspect of the invention, a tool uses a vacuumto create a positive engagement with the securement mechanism to removethe securement mechanism from a wear part and dispose of the wear partin a disposal stall.

In accordance with another aspect of the invention, a tool secures atleast one new piece to the worn wear part and uses the newly attachedpiece to remove the wear part from the base. In one preferredconstruction, the tool uses a stud welder to attach the new piece to theworn wear part.

In accordance with another aspect of the invention, a tool uses avibrator to initially disengage a wear part from a base secured toexcavating equipment.

In accordance with another aspect of the invention, a tool uses a magnetto remove a wear part from a base and dispose of the wear part in adisposal stall. In one preferred construction, the magnet is an airactuated permanent magnet.

In accordance with another aspect of the invention, a tool uses amulti-jaw gripper to remove a wear part from a base and dispose of thewear part in a disposal stall.

In accordance with another aspect of the invention, a disposal stall hasfixtures for supporting wear parts so that each wear part is maintainedin a fixed location.

In accordance with another aspect of the invention, each replacementwear member is maintained in a fixed location and orientation on apallet so that the tool can locate the new wear part and properly orientthe part for installation.

In accordance with another aspect of the invention, a tool rigidly gripsa wear part so that the wear part maintains a fixed orientation as thetool moves the wear part.

In accordance with another aspect of the invention, a tool is automatedand verifies a new wear part is fully seated on a base by comparing thecurrent location of the securement mechanism on the new wear part withthe previously established location of the securement mechanism on theworn wear member.

In accordance with another aspect of the invention, a tool performsvisual checks to ensure that a wear part is fully seated on the base. Inone preferred construction, the visual check is performed using a 2Dvision camera.

In accordance with another aspect of the invention, a tool is automatedand has been programmed with the geometry of a wear part being installedand has been programmed with where to place a securement mechanism onthe wear part.

In accordance with another aspect of the invention, a tool is automatedand has error handling should the excavating equipment unexpectedlymove.

In accordance with another aspect of the invention, a process forremoving a wear member from earth working equipment in a mine includesoperating a powered manipulator to move an auxiliary tool into proximitywith the wear member, operating the auxiliary tool to engage and holdthe wear member, and removing the wear member from the earth workingequipment through operation of the manipulator and/or the auxiliarytool.

In accordance with another aspect of the invention, a process for movinga retainer that secures a wear member to earth working equipment in amine to a release position, and moving an auxiliary tool into proximitywith the retainer to engage and release the retainer to permit removalof the wear member.

In accordance with another aspect of the invention, a process forremoving a wear member from earth working equipment includes operating amanipulator to move an auxiliary tool into proximity with the wearmember, operating the auxiliary tool to hold the wear member while theoperator remains remote from the wear member.

To gain an improved understanding of the advantages and features of theinvention, reference may be made to the following descriptive matter andaccompanying figures that describe and illustrate various configurationsand concepts related to the invention.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a side view of a mining excavator.

FIG. 2 is a perspective view of an excavator hoe bucket.

FIG. 3 is a perspective view of a lip of an excavator hoe bucket.

FIG. 4 is a perspective view of a tooth assembly.

FIG. 5 is an exploded perspective view of the tooth assembly shown inFIG. 4 .

FIG. 6 outlines the general process steps for automating wear partremoval and installation in accordance with the present invention.

FIG. 7 is a side view of a tool in accordance with the presentinvention.

FIG. 8 is a side view of a tool changer in accordance with the presentinvention.

FIG. 9 is a top view of a storage pallet in accordance with the presentinvention.

FIG. 10 is a cross-sectional view of the storage pallet in FIG. 9 takenalong line 10-10

FIG. 10 a is a cross-sectional view of a storage pallet in a magazineformation in accordance with the present invention.

FIG. 10 b is another cross-sectional view of the storage pallet showedin FIG. 10 a with a cartridge removed from the magazine.

FIG. 10 c is another cross-sectional view of the storage pallet showedin FIG. 10 a with a cartridge about to be placed in the magazine.

FIG. 11 is side view of second embodiment a tool in accordance with thepresent invention.

FIG. 12 is a rear perspective view of a bucket with an encoding elementof the present invention.

FIG. 13 is a perspective view of the tool of FIG. 7 with receivers anddigital sensors. Other details of the tool including the manipulator,storage pallets, and tools are omitted to simplify the drawings.

FIG. 14 is a side view of a bucket on level ground with digital sensorsin accordance with the present invention.

FIG. 15 is a side view of a bucket shown in FIG. 14 with the buckettilted up for wear part removal and installation.

FIG. 16 is a perspective view of a magnetic strap attached to a wearmember and base in accordance with the present invention.

FIG. 17 is a side view of a manipulator and an air actuated permanentmagnet for securing wear parts and securement mechanisms in accordancewith the present invention.

FIG. 18 a is a perspective view of a cartridge housing a new wear partin accordance with the present invention.

FIG. 18 b is a top view of the cartridge shown in FIG. 18 a withportions of the wear part and the inside of the cartridge shown inphantom lines.

FIG. 18 c is a front view of the cartridge shown in FIG. 18 a.

FIG. 18 d is a side view of the cartridge shown in FIG. 18 a withportions of the wear part and the inside of the cartridge shown inphantom lines.

FIG. 18 e is a perspective view of a cartridge housing a worn wear partin accordance with the present invention.

FIG. 18 f is a top view of the cartridge shown in FIG. 18 e withportions of the wear part and the inside of the cartridge shown inphantom lines.

FIG. 18 g is a front view of the cartridge shown in FIG. 18 e.

FIG. 18 h is a side view of the cartridge shown in FIG. 18 e withportions of the wear part and the inside of the cartridge shown inphantom lines.

FIG. 19 a is a perspective view of a multi-jaw gripper for securing awear part in accordance with the present invention.

FIG. 19 b is a top view of the multi-jaw gripper of FIG. 19 a.

FIG. 19 c is a side view of the multi-jaw gripper of FIG. 19 a.

FIG. 19 d is a front view of the multi-jaw gripper of FIG. 19 a.

FIG. 20 a is a perspective view of a pressure washing system forremoving fines in accordance with the present invention.

FIG. 20 b is a perspective view of a ring nozzle to be used with thepressure washing system of FIG. 20 a.

FIG. 20 c is a perspective view of a frame and sliding carriage to beused with the pressure washing system of FIG. 20 a.

FIG. 21 is a side view of a vibrator for removing fines from wear partsin accordance with the present invention.

FIG. 22 a is a perspective view of a stud welder for attaching newpieces to assist in removing wear parts in accordance with the presentinvention. The manipulator and tool changer are omitted to simplify thedrawing.

FIG. 22 b is a perspective view of a wrench bit for rotating new piecesthat have been attached to the wear parts in accordance with the presentinvention.

FIG. 22 c is a perspective view of a wear member with new piecesattached for removing the wear member from the base in accordance withthe present invention.

FIG. 23 is a side view of a hex tool for removing securement mechanismsin accordance with the present invention.

FIG. 24 is a perspective view of a cutter path for removing securementmechanisms in accordance with the present invention.

FIG. 25 a is a perspective view of a cutting path for removingsecurement mechanisms between a wear member and a base in accordancewith the present invention.

FIG. 25 b is a top view of the wear member and base in FIG. 25 a.

FIG. 25 c is a cross-sectional view of the wear member and base in FIG.25 b taken along lines 25 c-25 c.

FIG. 25 d is a cross-sectional view of the wear member and base in FIG.25 b with the securement mechanism removed.

FIG. 26 a is a side view of a custom tool for rigidly gripping wearparts in accordance with the present invention.

FIG. 26 b is a cross-sectional view of the custom tool in FIG. 26 ataken alone lines 26 b-26 b in FIG. 26 a.

FIG. 27 a is a front perspective view of a manipulator with a customtool for rigidly gripping the wear parts and for removing the securementmechanism in accordance with the present invention.

FIG. 27 b is a front side view of the custom tool shown in FIG. 27 aholding a wear part.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

The present invention pertains to a tool and a process for removing andinstalling various kinds of wear parts for earth working equipmentincluding, for example, excavating equipment and ground conveyingequipment. Excavating equipment is intended as a general term to referto any of a variety of excavating machines used in mining, constructionand other activities, and which, for example, include dragline machines,cable shovels, face shovels, hydraulic excavators, and dredge cutters.Excavating equipment also refers to the ground-engaging components ofthese machines such as the bucket, blade, or the cutter head. Groundconveying equipment is also intended as a general term to refer to avariety of equipment that is used to convey earthen material and which,for example, includes chutes and mining truck beds. The presentinvention is suited for removing and installing wear parts of excavatingequipment in the form of, for example, excavating teeth and shrouds.Additionally, certain aspects of the present invention are also suitedfor removing and installing a wear surface in the form of, for example,runners. For convenience of discussion, the wear part removal andinstallation process is discussed in terms of replacing a point on amining excavator. However, the removal and installation process may beused with other wear parts used with earth working equipment.

Relative terms such as front, rear, top, bottom and the like are usedfor convenience of discussion. The terms front or forward are generallyused to indicate the usual direction of travel during use (e.g., whiledigging), and upper or top are generally used as a reference to thesurface over which the material passes when, for example, it is gatheredinto the bucket. Nevertheless, it is recognized that in the operation ofvarious earth working machines the wear assemblies may be oriented invarious ways and move in all kinds of directions during use.

A mining excavator 1 is equipped with a bucket 3 for gathering earthenmaterial during digging (FIG. 1 ). The bucket 3 has a lip 5 that is thedigging edge of the bucket 3 (FIGS. 2 and 3 ). The digging edge is thatportion of the equipment that leads the contact with the ground. Toothassemblies and shrouds are often secured to the digging edge to protectthe edge and break up the ground ahead of the lip. Multiple toothassemblies 7 and shrouds 9, such as disclosed in U.S. patent applicationSer. No. 13/547,353 which is incorporated herein by reference, may beattached to lip 5 of bucket 3 (FIGS. 4 and 5 ). The illustrated tooth 7includes an adapter 11 welded (or otherwise secured) to lip 5, anintermediate adapter 13 mounted on adapter 11, and a point (also calleda tip) 15 mounted on base 13. While one tooth construction 7 is shown,other tooth arrangements are possible. Point 15 includes arearwardly-opening cavity to receive nose 17, and a front end 19 topenetrate the ground. A securement mechanism, typically called aretainer, pin or lock 21, is used to secure wear member 15 to base 13,and base 13 to nose 23 (FIGS. 2 and 3 ), though different locks could beused to secure point 15 and base 13. In this application, point 15 istypically referred to as the wear member and intermediate adapter 13 asthe base. Nevertheless, intermediate adapter 13 and adapter 11 are wearmembers as well. For example, when intermediate adapter 13 needsreplacement, it can be referred to as the wear member and adapter 11 asthe base. Similarly, when adapter 11 needs replacement, it can bereferred to as the wear member and lip 5 as the base. During the life ofthe bucket, the wear members 11, 13, 15 are usually replaced a number oftimes.

FIG. 6 illustrates the steps to a process for removing and installingworn wear members 15 on an excavating bucket 3. The process may beaccomplished by an installer/operator or the process may be asemi-automated process (i.e., various steps within the process may beautomated) or a fully automated process. Variations in the processexist. For example, it may be desirable to replace more than one wearmember at a time and it may be desirable to first remove all of the wearmembers before installing the new wear members.

In accordance with one embodiment of the invention, a tool 25 is used toremove and install wear members 15 (FIG. 7 ). The tool 25 is brought tothe excavating equipment 1 needing maintenance so that the wear partsmay be replaced even when the earth working equipment is in a remotelocation and the wear parts must be replaced in the field. The tool 25,for example, may be a service vehicle 27 as a mobile base with at leastone manipulator 29 and at least one controller 31 such as a CentralProcessing Unit (CPU) with programmable logic. The controller can be asingle CPU or a combination of CPUs located, for example, in theauxiliary tools, manipulators and/or service vehicle. The controllerscan be in a remote location or, as described below, can be manuallyoperated or partially manually operated. The service vehicle 27 may alsobe equipped with outrigger stabilizers 33, a power source 35, amanipulator platform 37, storage stalls or pallets 39, and auxiliarytools or sub-tools 41 to be used in conjunction with the manipulator 29.The service vehicle is wheeled so that it can easily be moved from onelocation to another. In an alternative embodiment not shown, the servicevehicle may have tracks or may have wheels and tracks. The servicevehicle 27 is driven to the mining excavator 1 by an operator locatedwithin the service vehicle 27. Alternatively, the service vehicle 27 maybe driven to the mining excavator 1 normally or remotely via a userinput device. For example, the service vehicle 27 may be remotely drivenwith a joystick (not shown) and cameras (not shown) located on theservice vehicle 27. In another alternative, the service vehicle 27 maybe fully automated and programmed to drive to the mining excavator 1needing wear members 15 replaced.

The service vehicle 27 is driven close enough to the excavator bucket 3so that the manipulator 29 is able to reach the wear members 15 on thebucket 3. Once in position the hydraulic outrigger stabilizers 33 arelowered to provide a stable platform for the manipulator 29. Themanipulator platform 37 may be located on the service vehicle 27 lowenough so that the manipulator 29 is able to reach the wear members 15when the bucket 3 is set on the ground. In some cases, the excavatoroperator may need to adjust the bucket 3 so that the bucket 3 is tiltedup or prop the bucket 3 on a platform 43 so that the manipulator 29 isable to reach the wear members 15 when the manipulator 29 is located onthe service vehicle 27 (FIG. 7 ). Service vehicle 27 may be equippedwith a lift (not shown), turntable and/or translating assemblies tolower, turn and/or move the manipulator 29 so that the manipulator 29 isable to reach the wear members 15 on the bucket 3.

The manipulator 29 and auxiliary tools 41 may be powered from a numberof power sources. For example, the manipulator 29 and auxiliary tools 41may be powered via the service vehicle, a generator, or batteries.

The manipulator platform 37 may be equipped with rails (not shown) forthe manipulator 29 to slide towards the front of the service vehicle 27,towards the rear of the service vehicle 27, and/or towards either sideof the service vehicle 27. Commercially available chains, hydraulicactuators, or electric actuators (driving a rack and pinion or ballscrew) (not shown) may be connected to the manipulator 29 to move themanipulator 29 along the rails.

The storage stalls or pallets 39 on the service vehicle 27 may be a partof the manipulator platform 37, integrated with the service vehicle 27,or may be detachable from the service vehicle 27 so that all of the wearmembers 15 are loaded onto the service vehicle 27 in the storage stalls39 prior to the service vehicle 27 being deployed to the field (FIGS. 7,9, and 10 ). The storage stalls 39 may be equipped with fixtures or jigs45 to support the wear members 15 so that each wear member 15 has afixed orientation and location relative to the manipulator 29 onceinstalled on the service vehicle 27.

The manipulator 29 may be custom built or may be a commercialoff-the-shelf servo-electric manipulator or a commercial off-the-shelfhydraulic manipulator, or a commercial off-the-shelf pneumaticmanipulator. The manipulator 29 may have integrated force sensing or maybe equipped with an aftermarket off-the-shelf force sensing device.Examples of manipulators 29 that may be used include, but are notlimited to, a Fanuc m-900ia-400L servo-electric robot with integratedforce sensing, an ABB IRB 7600-500 servo-electric robot equipped with anATI aftermarket Force/Torque Sensor, a Motoman HP500D servo-electricrobot equipped with an ATI aftermarket Force/Torque Sensor, or a VulcanAction 500 hydraulic manipulator.

The service vehicle 27 may be equipped with one or more of a variety ofauxiliary tools 41 usable to remove and/or install wear members 15. Theauxiliary tools 41 are preferably located in a fixed location relativeto the manipulator 29. The manipulator 29 may be equipped with anindustry standard tool changer 47 to allow the manipulator 29 to quicklychange from one auxiliary tool to another auxiliary tool to performvarious functions of the removal and installation process. The toolchanger 47 has a first side 49 that connects to the manipulator 29 and asecond side 51 that connects to the auxiliary tool 41 (FIG. 8 ). The twosides 49 and 51 of the tool changer 47 are coupled together when in useand decoupled when not in use. For example, the manipulator 29 may beequipped with an ATI Robotic Tool Changer. The various types ofauxiliary tools 41 the service vehicle 27 may be equipped with arediscussed in detail below. The manipulator may also concurrently supportmultiple auxiliary tools 41.

In an alternative embodiment (FIG. 11 ), a service station 53 isequipped with a power source 35, at least one controller 31 in the formof a CPU with programmable logic, at least one manipulator 29, storagestalls 39, and auxiliary tools 41 to be used in conjunction with themanipulator 29. The service station 53 is similar in many ways toservice vehicle 27 with many of the same benefits and purposes. Thefollowing discussion focuses on the differences and does not repeat allthe similarities that apply to service station 53. A mining excavator 1is brought to the service station 53 and located close enough to themanipulator 29 so that the manipulator 29 is able to reach the wearmembers 15 on the bucket 3. As with the service vehicle 27, the servicestation 53 may be equipped with rails (not shown) for the manipulator 29to slide back and forth on. The manipulator 29 and auxiliary tools 41 inthe service station 53 may be powered from a number of power sources 35.For example, the manipulator 29 and auxiliary tools 41 may be poweredvia a generator, batteries, or powered by an existing power system.Service station 53 is preferably located in a convenient location forthe earth working tools to approach and for operators to access.Nevertheless, the service station can be located in the field and caninclude a moble base such as a trailer to be moved to differentlocations.

Once the service vehicle 27 is in position relative to the excavatingbucket 3 or the excavating bucket 3 is in position relative to theservice station 53 the type of wear members 15 on the bucket 3 areidentified. The wear members 15 on the bucket 3 may be identified by anoperator manually entering the information into the controller 31. Theoperator may input a specific identifier related to the excavatingequipment 1, and controller 31 uses the identifier to references adatabase of wear members 15 on the identified excavating equipment 1.

In an alternative embodiment, an operator or the manipulator 29 may havean auxiliary tool to pull information from a database regarding thestate of the wear parts. The database may be accessed by an encodingelement 55 located on the excavating equipment 1, preferably on aprotected area. The encoding element 55 may, for example, be located onthe back of the bucket 3 (FIG. 12 ) or on the earth working machineoperating the bucket (not shown). The encoding element may be, forexample, an RFID, barcode, or QR Code. In an alternative embodiment notshown, the auxiliary tool may pull information from a mobile datacollection device. The encoded mechanism 55 or database may store, forexample, the bucket serial number, the capacity of the bucket, themachine the bucket is installed on, the part number for the bucket, andtype of wear members 15 currently installed on the bucket 3. The data isthen input into the controller 31. The controller 31 with an externalProgrammable Logic Controller (PLC) (not shown) or an external PC (notshown) may perform a check to ensure that the wear members 15 to beinstalled are compatible with the bucket 3.

In yet another alternative embodiment, the controller 31 may pull thetype of wear members 15 currently installed on the bucket 3 from abucket health monitoring unit (not shown). The bucket health monitoringunit may be a system that monitors and stores the current wearcharacteristics of each wear member 15 on the bucket 3 and gives analert when a wear member 15 is about to be worn past a minimum wearprofile for the wear member 15. The alert may be sent wirelessly toequipment operators and to wireless devices when the wear members 15 onthe excavating equipment 1 need maintenance. In order to determine theminimum wear profile of each wear member 15 on the bucket, the healthmonitoring unit may reference a database with various wear profiles forvarious types of wear members 15. Various aspects of the bucket healthmonitoring unit may be, for example, accomplished by the Tooth-WearMonitoring system sold by Motion Metrics or similar bucket healthmonitoring units or from a mobile data collection device.

In addition to assisting in determining what type of wear members 15 arecurrently installed on the bucket 3, the bucket health monitoring systemmay also be able to communicate other information to the tool 25. Thecommunication between the bucket health monitoring system and the tool25 may be wireless or through a cable. The bucket health monitoringsystem may communicate, for example, the specific wear member(s) 15 thatare worn such that the wear member(s) 15 should be replaced prior to thenext maintenance window. The bucket health monitoring system may assistthe tool in providing feedback to the tool during the installation andremoval process. For example, the bucket health monitoring system mayprovide information from its sensors (e.g., cameras, accelerometers) toassist the tool in locating and securing the worn wear part andinstalling a new wear part on the base of the excavating equipment.

In an alternative embodiment, the tool can communicate with the databaseof the bucket health monitoring system or another separate database torecord information about the installation and removal process. The toolcan communicate with, for example, at least one of: i) the time and datethat the wear parts were removed and replaced, ii) how long thechange-out of the wear parts took, iii) machine the wear parts wereinstalled on, iv) type of wear parts replaced and installed, v) torqueneeded to remove a securement mechanism holding the wear part to theearth moving equipment, vi) torque used to install securement mechanismto hold the wear part to the earth moving equipment, and vii) thegeographic location of where the wear parts were replaced.

If the mining excavator 1 is not equipped with a bucket healthmonitoring unit, an operator may look at the current wearcharacteristics of each of the wear members 15 and manually input intothe controller 31 which wear members 15 need replacement. The controller31, e.g., a CPU, an external PLC, or an external PC, may also transmitinformation to wireless devices regarding which wear members 15 arebeing replaced. If no wear members 15 need to be replaced the controller31 can be programmed to not continue the removal and installationprocess.

If one or more wear members 15 need replacement, the controller 31 candetermine the location of the wear member 15 with respect to themanipulator 29. The bucket 3 and service vehicle 27 or service station53 may be equipped with sensors so that the orientation and location ofthe wear parts may be determined regardless of the wear partsorientation to the ground. The sensors may be active or passive sensorsand may be, for example, receivers, transmitters, and digital sensors.The bucket 3 may have the receivers, transmitters, and digital sensorspermanently installed on the bucket 3 or the sensors may be placed onthe bucket 3 by an operator prior to the removal and installationprocess. For example, the bucket 3 may have at least one GPS receiver 57and the service vehicle 27 or service station 53 may also have at leastthree GPS receivers 57 (FIG. 13 ). Additional digital sensors, forexample an inclinometer unit 59 and/or a compass 61, may be located on asurface of the bucket with a calibrated starting angle so that thecontroller 31 can determine the orientation and location of the bucket 3relative to the service vehicle 27 or service station 53. The calibratedstarting angle may be, for example, a flat surface of the bucket 3(e.g., when the bucket 3 is resting on level ground). The controller 31may have a bucket and wear member geometry database to assist inlocating the wear members 15 on the bucket 3. The controller 31 maydetermine where to maneuver the manipulator 29 based on the tilt angleof the bucket 3, the locations of the service vehicle 27 and bucket 3determined from the GPS receivers 57, and location of the wear member 15determined from the bucket and wear member geometry database. In anotherembodiment, both the bucket 3 and the service vehicle 27 or servicestation 53 may have electromagnetic wave receivers and/or transmitters,mechanical wave receivers and/or transmitters, or laser receivers and/ortransmitters instead of GPS receivers 57. The electromagnetic waves may,for example, have a wavelength greater than the visible spectrum (e.g.,infrared, microwave, or Radio Frequency). The mechanical waves may, forexample, have a wavelength in the ultrasonic spectrum. The receivers andtransmitters may be similar to those used in the Nikon iGPS system or inthe iTrack's Local Positioning System.

In an alternative embodiment (FIGS. 27 a and 27 b ), the location of thewear member in space relative to the manipulator may be determined usinga camera 32, vision recognition software, and bucket/wear membergeometry. For example, the manipulator may be equipped with one or morecameras 32 and the, (e.g., a CPU, an external PLC, or an external PC)may be equipped with vision recognition software. The manipulator may bespun, rotated, or maneuvered up, down, or in a circle until the visionrecognition software identifies the excavating equipment, the bucket, orthe wear member. Once the vision recognition software identifies theexcavating equipment, the bucket, or the wear member, the controller maydetermine the orientation and location of the bucket. The manipulatorcan then be maneuvered closer to the bucket or wear member until thevision recognition software identified a unique feature on the bucket orwear member. The unique feature may be, for example, unique castsurfaces, a uniquely designed weld-on plate, or a unique pattern ofhardfacing. The unique feature would preferably be located in a placewhere it would not wear completely away. The unique feature wouldpreferably have a pattern on the wear member or bucket so that thecontroller may determine the direction the bucket or wear member isoriented. The manipulator can be driven to the unique feature and a homeposition on the bucket or wear member would be established. Based on theestablished home position and bucket/wear member geometry, themanipulator may be maneuvered to various positions needed to removeand/or install wear members on the bucket.

In an alternative embodiment, the location of the wear member 15 inspace relative to the manipulator 29 may be input by an operator using auser input device (i.e., a controller 31) to maneuver the manipulator 29to a specific position on the wear member 15. In this example, thecontroller 31 is a user input device such as, for example, a joystick orwearable user interface (not shown). Alternatively, an operator canphysically (e.g., with their hands) guide the manipulator 29. Forexample, the operator may maneuver the manipulator 29 so that themanipulator 29 is directly over the securement mechanism 21 between thewear member 15 and the base 13 on the excavating equipment 1 so that thecontroller 31 is programed with the wear member 15 location andorientation relative to the manipulator. The operator is preferablyremote, i.e., located a safe distance away, from the wear member 15 andthe manipulator. If the operator is located in a position where theycannot physically see the wear member 15, the manipulator 29 and servicevehicle 27 or service station 53 may be equipped with cameras 32 (FIGS.27 a and 27 b ) to assist in visually maneuvering the manipulator 29 tothe worn wear member 15. The user input device, may also have haptic,visual, or audible feedback to provide information from the manipulator29. The feedback, for example, may be a vibration, a visual light, or anaudible sound. Feedback, for example, may be given to an operator whenthe manipulator touches an object.

To ensure that the wear member 15 does not prematurely disengage fromthe excavating equipment 1, the bucket 3 may be tilted upwards so thatthe wear member 15 is at an angle for gravity to keep the worn member 15in place on the base 13. An inclinometer unit 59 located on a surface ofthe bucket with a calibrated starting angle. The surface of the bucketmay be, for example, a flat surface of the bucket 3 (e.g., when thebucket 3 is resting on level ground). The inclinometer unit 59 maywirelessly transmit to the controller 31 the current orientation of thebucket 3 so that the controller 31 can determine when the bucket 3 is ina safe orientation for gravity to keep the worn member 15 in place afterthe securement mechanism 21 is removed (FIGS. 14 and 15 ).Alternatively, a light or other audio, visual, or haptic feedback (notshown) may indicate to the operator when the bucket 3 is at a safeorientation to continue the removal process.

In an alternative embodiment, an auxiliary tool, preferably in the formof a multi-arm tool 191, may secure the wear member on two or more sidesof the wear member 15 (FIGS. 27 a and 27 b ). In the illustratedexample, auxiliary tool 191 has three arms, one arm 191 a that contactsthe bottom of the wear member 15 and two arms 191 b and 191 c thatcontact the sides of the wear member 15, although the multi-arm tool 191could be provided with more than three arms or fewer than three arms. Inaddition, the multi-arm tool 191 may grip any two opposing surfaces onthe wear member (e.g., the arms may grip the top and bottom of the wearmember, the arms may grip the sides of the wear member and the top ofthe wear member, or the arms may grip the top and bottom and the sidesof the wear member). Each arm 191 a-191 c can be opened and shut so thatthe side arms 191 b and 191 c move from side to side and move closer andfarther apart from each other and the bottom arm 191 a moves up anddown. The arms may be moved via a motor or may be moved hydraulically.The arms 191 a-191 c are spaced far enough apart so that when the armsare in the open position the wear member fits within the openingprovided by the arms and are likewise spaced close enough to each otherso that when the wear member is within the opening the arms fullycontact and engage the wear member. Each arm 191 a-191 c additionallymay have an adjustable surface 193 to contact the wear member 15.Adjustable surface 193 allows the arms 191 a-191 c to better contact thevarying surfaces of the wear member. In addition the adjustable surface193 allows the arms 191 a-191 c to better contact a worn wear member.

In one preferred embodiment, the multi-arm tool 191 is combined with asecond auxiliary tool in the form of a removal tool 195 to create acombined tool 197 that both secures the wear member 15 and that canremove the securement mechanism from the wear member 15. This operationcan also be accomplished by a single auxiliary tool with multiplecapabilities. In the illustrated embodiment, the removal tool 195 isprovided with an adjustment mechanism 199 that only adjust the positionof the removal tool 195 without adjusting the overall position of themanipulator 29 (i.e., the manipulator has fine control). Although theadjustment mechanism 199 is only shown in the embodiment shown in FIGS.27 a and 27 b , the adjustment mechanism 199 may be applied to any ofthe various auxiliary tools 41 used in the removal and installationprocess. The adjustment mechanism 199 provides the removal tool 199 withtwo or more degrees of freedom so that the removal tool 195 can movefrom side to side and up and down without adjusting the position of themanipulator arm 29. The removal tool 195 is shown as having a hex tool201, though other tools are possible, to remove the securementmechanism. Combining the multi-arm tool 191 with the removal tool 195allows one tool 197 to be used to remove the worn wear member andinstall the new wear member. An auxiliary tool in the form of a combinedtool 197 may combine any of the various auxiliary tools 41 that securesthe wear member and any of the various auxiliary tools 41 that removesand installs the securement mechanism from the wear member. In additionthe auxiliary tool as a combined tool 197 may combine more than twoauxiliary tools together (e.g., the combined tool may have an auxiliarytool to secure the wear member, an auxiliary tool to remove fines, andan auxiliary tool to remove the securement mechanism).

In an alternative embodiment, a magnetic strap 63 may secure the wearmember to the base (FIG. 16 ). The magnetic strap 63 may be made of atleast one air actuated permanent magnet 65. At least one air actuatedpermanent magnet 65 may be secured to the worn wear member 15 andanother air actuated permanent magnet 65 may be secured to the base 13and both of the air actuated permanent magnets 65 may be secured to eachother, for example, with a metal strap 67. The magnetic strap 63 may beapplied manually or may be applied with the manipulator 29. The airactuated permanent magnets 65 may, for example, be Optimag PneumaticLifting Magnets, SAV 531.03 NEO-AIR 500 magnets, SCHUNK Lifting MagnetsMHM-P, or similar commercially available air actuated permanent magnets.

In yet another alternative embodiment, two (or more) manipulators 29(not shown) may be used. A first manipulator can be used to secure thewear member 15 from falling and a second manipulator can be used todisengage the wear member 15 from the excavator (not shown). The firstmanipulator may use a tool such as an air actuated permanent magnet 65to secure the wear member 15 (FIG. 17 ). The controller 31 drives themanipulator 29 and the air actuated permanent magnet 65 to theprogrammed location X just above the wear member 15. Next, themanipulator 29 and air actuated permanent magnet 65 can be drivenfurther toward the wear member 15 until the force feedback on themanipulator 29 registers a spike in force. The air actuated permanentmagnet 65 can then be engaged to secure the wear member 15.

In an alternative embodiment, a cartridge 69 may be used to secure thewear member 15 (FIG. 18 e-18 f ). The cartridge 69 has a top wall 71,bottom wall 73, and two opposing sidewalls (75, 79) extending betweenthe top wall 71 and the bottom wall 73. Guides or locators 81 on theinterior surface 83 of the cartridge 69 may assist in properlypositioning the wear member 15 within the cartridge 69. The locators maybe an additional piece secured to one of the walls or the locator may bean integral part of one of the walls. The locators may be sensors thatindicate when the wear member is properly positioned within thecartridge. The locators 81 may be on the interior surface 83 of the topwall 71, the bottom wall 73, the first sidewall 75, the second sidewall77, or a combination thereof. In addition to the cartridge 69 being ableto house a worn wear member 15 for removal, storage, and shipment; thecartridge 69 may also be used to house new wear members 15 for shipment,storage, and installation (FIGS. 18 a-18 d ). However, the cartridge mayonly be used for housing worn wear members, or may only be used forhousing new wear members. The uniform shape of the cartridge 69 allowsthe wear member 15 to be stored and shipped more easily. The locators 81may be, for example, hollow so that studs 80 may be inserted into thelocators 81. The studs 80 may have a resilient member so that the studsmay be pushed further into the locators when the studs 80 engage thewear member 15. In an alternative embodiment not shown, the locators 81may be resilient so that the locators engage the wear member as the wearmember is inserted into the cartridge. For example, the locator may be acutout of a part of one of the walls of the cartridge so that the cutoutcreates a tab that extends into the cavity of the cartridge to engagethe wear member (not shown). The worn wear member 15 may be stud welded,or otherwise secured 85, to the studs 80 and/or the locators 81 foradditional support, but this is not a requirement and the studs orlocators may be sufficient to hold the wear member in position. The studweld 85 may be performed by an operator or may be performed using themanipulator 29. The walls 71, 73, 75, and 79 of the cartridge 69 may beprovided with at least one attachment mechanism 87 for securing thecartridge 69 to a lifting device. The attachment mechanism may, forexample, be a lifting eye, an air actuated permanent magnet, or one ormore holes in, e.g. the sidewalls 75, 79. The lifting device, forexample, may be a hoist or manipulator 29. In an alternative embodiment,the earth moving equipment may be brought to the cartridge 69. The walls71, 73, 75, and 79 of the cartridge 69 may have an opening 91 so thatthe securement mechanism 21 between the wear member 15 and the base 13is accessible once the cartridge 69 is installed on the wear member 15.The attachment mechanism 87 may also be used for lifting the cartridge69, for rotating the cartridge 69, for pulling the cartridge 69, or forpushing the cartridge 69. An attachment mechanism 87 that can be lifted,pulled, or pushed allows a wear member 15 secured within the cartridge69 to be installed and removed from the base 13 while being secured tothe manipulator 29. The cartridge 69 in combination with the attachmentmechanism 87 may eliminate the need for a lifting eye on the wear member15. Eliminating the lifting eye on wear member 15 could minimize themanufacturing rejects of wear members 15. In an alternative embodiment,at least one attachment mechanism 87 is provided for securing thecartridge 69 and at least one additional attachment mechanism 87 isprovided for lifting, pulling, and pushing.

Multiple cartridges 69 and new wear members 15 could be housed, stored,shipped, and transported in a storage stall 39 from the time the wearmembers 15 leave manufacturing to the time the wear members 15 areinstalled on the excavating equipment 1. Multiple cartridges 69 and wornwear members 15 could be housed, stored, shipped, and transported in astorage stall 39 from the time the wear members 15 are removed from theexcavating equipment 1 to the time the wear members 15 are refurbished,reclaimed, or scrapped. In an alternative embodiment, the cartridges 69may be placed within a storage stall 39 in a magazine formation so thatwhen one cartridge is taken from the storage stall the remainingcartridges slide to a new location such that a new cartridge is readyfor removal from the storage stall 69 (FIGS. 10 a and 10 b ). Once acartridge 69 is used to remove a worn wear member 15, the cartridge 69with the worn wear member 15 may be placed back in the same storagestall 39 or may be placed in a different storage stall 39 (FIG. 10C).

Alternatively, one manipulator with a first arm to secure the wearmember 15 from falling and a second arm to disengage the wear member 15from the excavator may be used (not shown). The first arm may use amulti-jaw gripper 95 to secure the wear member 15 to the manipulator(FIGS. 19 a-19 d ). The multi-jaw gripper 95 can have two outer arms 97that oppose each other. Each outer arm 97 has a wedge 99 that extendsfrom an inner surface 101 and along the rear surface 103 of each arm 97.Each outer arm 97 has an inner wedge 105 that can slide along the innersurface 101. A cavity 107 extends between the outer arm 97 and the innerwedge 105. A sliding mechanism 109 is inserted into each cavity 107. Thesliding mechanism may be, for example, a screw, a pneumatic cylinder, ora hydraulic cylinder. Each outer arm 97 is secured to a support 111 thatextends between each opposed outer arm 97. A cavity 113 extends from oneouter arm 97 through the support 111 and through the other outer arm 97.A sliding mechanism 109 is inserted into the cavity 113 so that theopposing arms are able to slide together and apart. To attach themulti-jaw gripper 95 to a wear member 15 the manipulator 29 slides theouter arms 97 apart from each other and the manipulator 29 slides theinner wedges 105 away from the from the rear surface 103. Themanipulator places the multi-jaw gripper 95 over the wear member 15 andslides the opposed outer arms 97 together so that each rear surface 103and each wedge 99 fits between the wear member 15 and the base 13. Inthis position each rear surface 103 abuts the base 13 and the wedge 99abuts the wear member. Next the manipulator 29 slides each inner wedge105 towards the rear surface 103 until the inner wedges 105 abut thefront end 19 of the wear member 15. Wear member 15 is now secured andready for the securement mechanism 21 to be removed from the wear member15.

If the mining excavator 1 is used in an environment that creates finesthat build up between the wear member 15 and the base 13 and the areasurrounding the securement mechanism 21, an auxiliary tool 41 a fordislodging the fines may be utilized. The auxiliary tool may be usedmanually by an operator or may be used with the manipulator 29. Forexample, a common tool currently used in the mining industry forremoving fines may be utilized. The common tool may be, for example, apneumatic needle scaler (not shown) or may be a pressure washing system.For example, a nozzle 121 for a pressure washing system 123 may beprovided that attaches to the manipulator 29 (FIG. 20 a ). The pressurewashing system 123 is shown as having one nozzle 121, but may have morethan one nozzle 121. The pressure washing system 123 may use a cleaningagent such as air with or without suspended abrasive grains or water toremove the fines. In an alternative embodiment, the pressure washingsystem 123 may utilize a ring nozzle 122 with many inwardly facingorifices 124 around the ring to deliver the cleaning agent (FIG. 20 b ).The ring nozzle 122 creates a sheet of cleaning agent around the wearmember 15. The ring may be provided with a securement fixture 130 forfixing the ring to a tool changer 47 (FIG. 8 ). The manipulator 29 maysweep the ring nozzle 122 along the longitudinal axis of the wear member15. In an alternative embodiment, the pressure washing system 123 mayutilize a frame 126 with a sliding carriage 128 mounted to the frame 126(FIG. 20 c ). The sliding carriage would be able to slide back and forthalong the frame 126 as the cleaning agent is dispersed from the nozzle121 on the sliding carriage 128. The frame 126 may be provided with asecurement fixture (not shown) similar to the securement fixture 130used with the ring nozzle 122 in FIG. 20 b . The manipulator may sweepthe frame 126 along the longitudinal axis of the wear member 15.

In an alternative embodiment, an auxiliary tool 41 b including avibrator 125 may be used to dislodge the fines from the wear member 15.For example, the manipulator 29 may be used to lower a vibrator 125 ontothe worn wear member 15 with a winch 127 (FIG. 21 ). The vibrator 125 isisolated so that the vibrations do not cause damage to the manipulator29. In alternative embodiments not shown, the tool may not have a winch127 and the vibrator 125 may be isolated from the manipulator 29, forexample, with an air spring or a rubber bladder to ensure the vibrationsdo not damage the manipulator 29. The vibrator 125 may be a CDXExplosion Proof Electric Vibrator or similar commercially availablevibrators. At least one air actuated permanent magnet 65 may be mountedto the vibrator 125 with a swivel mount 129. The air actuated permanentmagnet 65 may be an Optimag Pneumatic Lifting Magnet, SAV 531.03 NEO-AIR500, SCHUNK Lifting Magnet MHM-P, or similar commercially available airactuated permanent magnet. The swivel mount 129 allows the air actuatedpermanent magnet 65 to orient to the wear members 15 outer surface.

To disengage the securement mechanism 21 between the wear member 15 andthe base 13, the manipulator 29 may utilize an auxiliary tool 41 c toattach a gripping member or piece 131 to the lock 21. For example, themanipulator 29 and an auxiliary tool 41 c to attach gripping member 131to the lock 21 are driven to a programed location just above the wearmember 15. The programed location may be manually input via user inputdevice as outlined above, or may be determined via receivers and bucketgeometry as outlined above. Next the manipulator 29 is driven furthertoward the wear member 15 along the axis of the lock 21 until the forcefeedback on the manipulator 29 registers a spike in force indicatingthat the auxiliary tool 41 c is touching the wear lock 21. The auxiliarytool 41 c then attaches gripping piece 131 to the lock 21. Attaching apiece to the lock 21 allows the manipulator 29 to not require precisealignment with the lock 21 for removal. The gripping piece may have avariety of different shapes and may be, for example, a cylindrical stud,a splined stud with a ring groove, a T-shaped stud, an L-shaped stud, ora bladed stud. The manipulator 29 may switch to another auxiliary tool41 d to remove the lock. The auxiliary tool 41 c for attaching piece 131may be, for example, a stud welder 133, and the auxiliary tool 41 d toremove the lock 21 may be, for example, an pneumatic or hydraulic wrench135 matching the shape of the stud 131 (FIGS. 22 a and 22 b ). Thegripping member 131 can also be attached by mechanical means. In thegiven example, the lock 21 has a threaded pin which can be released byturning the pin with the pneumatic or hydraulic wrench. Otherattachments or auxiliary tools could be used for other kinds of locks.The manipulator 29 may switch to another auxiliary tool and go back tothe programed location of the piece or stud 131 to grip the stud 131 anddispose of the lock 21 in a disposal stall 137 located on the servicevehicle 27 or in the service station 53.

In an alternative embodiment, an auxiliary tool 41 e matching the shapeof the lock opening 22 may be attached to the manipulator 29. Forcecontrol on the manipulator 29 and an algorithm may be used to find theopening 22 in the lock 21. For example, the manipulator 29 and a hextool 139, that matches the shape of the lock opening 22, can be drivento a programed location X just above the wear member 15 (FIG. 23 ). Theprogramed location X may be manually input via a user input device ormay be determined via receivers and bucket geometry as outlined above.Next the manipulator 29 is driven further toward the wear member 15along the axis of the lock 21 until the force feedback on themanipulator 29 registers a spike in force indicating that the hex tool139 is touching the wear member 15. The manipulator 29 continues to movein a variable, generally circular pattern on a plane normal to alongitudinal axis of the lock 21 until the force drops indicating thatthe hex tool 139 is in at least partial alignment with the lock opening22. The manipulator 29 may rotate the hex tool 139 to assist in aligningthe hex tool 139 within the lock opening 22. The manipulator 29continues to move in a variable, generally circular pattern on a planenormal to the longitudinal axis of the lock 21 until the force againdrops indicating that the hex tool 139 is further aligned with the lockopening 22. The manipulator 29 continues this pattern until the hex tool139 is in complete alignment with the lock opening 22. The manipulator29 rotates the hex tool 139 in order to back the lock 21 out of opening20. If the lock 21 cannot be maintained within the wear member 15 in arelease position, the manipulator 29 may switch to another auxiliarytool such as a suction cup (not shown) or an air actuated permanentmagnet 65 (FIG. 17 ) to grip the lock 21 for disposal. The suction cupor air actuated permanent magnet 65 is driven to the programed locationX just above the lock 21. Next the manipulator 29 is driven furthertoward the wear member 15 until the force feedback on the manipulator 29registers a spike in force. The suction cup or air actuated permanentmagnet 65 is then engaged to grab the lock 21 for disposal of the lock21 in a disposal stall 137 located on the service vehicle 27 or in theservice station 53.

In yet another alternative, the manipulator 29 may utilize an auxiliarytool 411 to cut the lock 21. The lock 21 may be completely cut up oronly the parts of the lock 21 may be cutoff. The cutter 141 may be movedby the manipulator 29 so that the cutter 141 cuts an inversefrustoconical path 142 so that only the lock 21 and wear member 15 arecut (FIGS. 24 and 25 a-25 d). The base 13 remains uncut so that the base13 does not need to be replaced. In an alternative embodiment only thelock 21 is cut. The inverse frustoconical motion path may, for example,converge in a key way void 140 of the base 13. The cutter 141 may be anelectric air arc torch, a waterjet cutter, or laser. If the entire lock21 is not cut up the manipulator 29 may switch to another auxiliarytool, for example a suction cup (not shown) or a magnet 65 (FIG. 17 ),to remove and dispose of the lock 21 in a disposal stall 137 located onthe service vehicle 27 or in the service station 53. Other auxiliarytools to remove other kinds of retainers or locks can be used as well.

To disengage the worn wear member 15 from the base 13 the manipulator 29may first utilize an auxiliary tool 41 to attach at least one grippingpiece 131 to the worn wear member 15. For example, the manipulator 29and an auxiliary tool 41 to attach 131 to the wear member 15 are drivento a programed location just above the wear member 15. The programedlocation may be manually input via a user input device or may bedetermined via receivers and bucket geometry as outlined above. Next themanipulator 29 is driven further toward the wear member 15 until theforce feedback on the manipulator 29 registers a spike in forceindicating that the auxiliary tool 41 is touching the wear member 15.The auxiliary tool 41 then attaches at least one piece 131 to the wearmember 15. The auxiliary tool 41 may attach one piece 131 to each sideof the wear member (FIG. 22 c ). The auxiliary tool 41, for example, maybe a stud welder 133 (FIG. 22 a ). The gripping member can also bemechanically attached to the wear member such as by clamp inserted intothe lock opening or a component of the lock (e.g., an expansion clamp assold by Pascal Corporation of Itami, Hyogo, Japan). The manipulator 29may then switch to another auxiliary tool 41 and go back to theprogramed location of the new piece(s) or stud(s) 131 to grip thestud(s) 131. The manipulator 29 would pull on the stud(s) 131 along alongitudinal axis of the base 13 to pull the worn wear member 15 off ofthe base 13. In an alternative embodiment, the auxiliary tool 41 mayalso attach gripping pieces 131 to the base 13 (not shown). Attachingpieces 131 to the base 13 allows the auxiliary tool 41 to leverageagainst the new pieces 131 on the base 13 and the wear member 15 to pullthe wear member 15 off of the base 13. The manipulator 29 would thendispose of the worn wear member 15 in a disposal stall 137 located onthe service vehicle 27 or in the service station 53. The disposal stall137 may have fixtures or jigs (not shown) to support the worn wearmember 15 so that the parts are maintained in a fixed location.

In an alternative embodiment, the worn wear member 15 may be disengagedfrom the base 13 by the manipulator 29 pulling the cartridge 69 or themulti-jaw gripper 95 along the longitudinal axis of the base 13.

In an alternative embodiment, the worn wear member 15 may initially bedisengaged from the base 13 using a vibrator 125. The vibrator 125 maybe similar to the vibrator 125 discussed above for removing fines (FIG.21 ). After the initial separation, the manipulator 29 may switch toanother auxiliary tool 41, for example, an air actuated permanent magnet65 similar to the air actuated permanent magnet 65 used to grip the lockfor disposal (FIG. 17 ). The air actuated permanent magnet 65 is drivento the programed location X just above the wear member 15. Next themanipulator 29 is driven further toward the wear member 15 until theforce feedback on the manipulator 29 registers a spike in force. The airactuated permanent magnet 65 is then engaged to grab the worn wearmember 15. The manipulator 29 pulls the air actuated permanent magnet 65and wear member 15 along the longitudinal axis of the base 13 to backthe worn wear member 15 off of the base 13 for disposal of the wearmember 15 in a disposal stall 137 located on the service vehicle 27 orin the service station 53.

Once the worn wear member 15 has been removed from the base 13, fines onthe base 13 may need to be removed prior to installing a new wear member15. Various auxiliary tools for removing fines exist and the tools maybe used manually by an operator or may be used with the manipulator 29.For example, a common tool currently used in the mining industry forremoving fines may be utilized. The common tool may be, for example, apneumatic needle scaler (not shown) or may be a pressure washing system123 or vibrator 125 as previously discussed (FIGS. 20 a, 20 b, 20 c and21).

Each new wear member 15 (i.e., the wear member to be installed whetherit is new or partially used) is located in a specific location on thestorage stalls or pallet 39. Each new wear member 15 may be located on afixture or jig 45 in a fixed orientation (FIGS. 9 and 10 ). In analternative embodiment, each new wear member 15 may be located in acartridge 69 in a specific fixed orientation and position on the pallet39. Each pallet 39 is located in a specific fixed location relative tothe manipulator 29. When the base 13 is ready for a new wear member 15to be installed the controller 31 can use the programed location of thepallet 39 and the programed location of the new wear member 15 on thepallet to maneuver the manipulator 29 to the new wear member 15. In analternative embodiment, an operator may use a controller in the form ofa user input device (not shown) to maneuver the manipulator 29 to thenew wear member 15.

The manipulator 29 may use an auxiliary tool 41 to rigidly grip the newwear member 15. The auxiliary tool 41 may be, for example, a custom tool165 that rigidly grips a lifting eye 169 on the wear member 15 (FIGS. 26a and 26 b ). The custom tool 165, may for example, consist of a U-bolt167 that is threaded 181 on both ends and is passed laterally through alifting eye 169 on the wear member 15, a double-wedge block 171 withlateral flanges 173 and holes 175 that align with the U-bolt 167, andtwo nuts 177 to be threaded onto the ends of the U-bolt 167. Thedouble-wedge block 171 is placed over the U-bolt so that the ends of theU-bolt 167 enter the holes 175 on the double-wedge block 171. The nuts177 are threaded on the ends of the U-bolt 167 to tighten thedouble-wedge block 171 against the lifting eye 169. Once the nuts 177have been completely tightened the custom tool 165 eliminates lateraland fore/aft movement of the wear member 15 while lifting, orienting,and positioning the wear member 15. The double-wedge block 171 may havea surface 179 for attaching a tool changer 47 (FIG. 8 ) so that thecustom tool 165 may be used with a manipulator 29. In an alternativeembodiment (not shown), a sandwich clamping mechanism in combinationwith tripod stabilizing pivot feet may be used to rigidly grip the wearmember 15. The pivot feet may, for example, utilizing pneumatic,hydraulic, or electric cylinders.

With the new wear member 15 rigidly secured to manipulator 29 thecontroller 31 maneuvers the new wear member 15 back to the programedlocation of the base 13. Because the manipulator 29 picked the wearmember 15 up in a fixed orientation and because the custom toolmaintains the wear member 15 in a fixed orientation the controller 31can orient the wear member 15 to fit on the base 13. The manipulator 29pushes the new wear member 15 onto the base 13. To ensure that the wearmember 15 is fully seated on the base 13 the controller 31 compares thecurrent location of the lock opening 22 on the new wear member 15 withthe programed removal location of the lock 21 on the worn wear member15. In an alternative embodiment, a visual check is performed. Thevisual check may be performed by an operator or may be performed by a 2Dvision camera (not shown). Cameras (not shown) may be located on themanipulator 29 to assist the operator in the visual check.

In an alternative embodiment, the manipulator 29 may grip the attachmentmechanism 87 on the cartridge 69 to lift the cartridge 69 from thepallet. Since the wear member 15 has a fixed orientation within thecartridge 69 and the cartridge 69 has a fixed orientation and locationon the pallet 39 the controller 31 can rotate and orient the cartridge69 and the wear member 15 within the cartridge 69 to fit on the base 13.While the manipulator 29 is secured to the attachment mechanism 87, themanipulator 29 pushes the new wear member 15 onto the base 13 until thewear member 15 is fully seated on the base 13. Spring pins 82 may beinstalled in the guides or locators 81 within the cartridge 69 (FIG. 18b ). The spring pins 82 may engage detents in the new wear member 15 tokeep the wear member 15 in the cartridge 69. The spring pins 82 engagethe wear member 15 until the securement mechanism 21 is in place betweenthe wear member 12 and the base 13 and at which point the spring pins 82are released and the new wear member 15 is disengaged from the cartridge69.

Once the new wear member 15 is fully seated on the base 13 thecontroller 31 locates the new securement mechanism 21. The controller 31may be programed with the type of wear member 15 being installed and beprogramed with the geometry of the new wear member 15. Based on theprogramed geometry of the wear member 15, the manipulator 29 maydetermine where the securement mechanism 21 needs to be located on thewear member 15. If the new securement mechanism 21 is integrated withthe wear member 15 the controller 31 maneuvers the manipulator 29 to theappropriate location on the wear member 15. If the securement mechanism21 is not integrated with the wear member 15, the controller 31maneuvers the manipulator 29 to the service stall 39. The securementmechanism 21, like the wear member 15, may be located on the pallet 39in a fixed location and orientation. In an alternative embodiment, anoperator may use a user input device (not shown) to maneuver themanipulator 29 to the securement mechanism 21.

To engage the securement mechanism 21 between the wear member 15 and thebase 13, an auxiliary tool 41 matching the shape of the lock opening 22may be attached to the manipulator 29. For example, as discussed above,force control on the manipulator 29 and an algorithm may be used toplace the hex tool 139 in the lock opening 22 (FIG. 23 ). Once the hextool 139 is fully seated in the lock opening 22 the hex tool spins thelock to fully secure the wear member 15 to the base 13. In the presentexample, the hex tool 139 can be used to drive the lock 21 into the lockopening 22 to hold the lock 21 in a hold position to secure the point tothe base. In a wear member with an integrated lock, the lock can be in adetermined location by the controller still holding the wear member onthe base.

The controller 31 may be equipped with error handling features. Forexample, if the base 13 on the bucket 3 moves between the removal andinstallation process the manipulator 29 is equipped with force feedbackso that if the force feedback encounters a force in a location that themanipulator CPU or controller 31 does not expect to encounter a force,the manipulator 29 returns to a home position. An operator may re-inputthe base 13 location into the controller 31 by using a user input device(not shown) to maneuver the manipulator 29 to a specific position on thebase 13. In an alternative embodiment, the controller 31 may re-learnthe base 13 location using receivers, transmitters, and digital sensorson the bucket 3 and service vehicle 27 or service station 53 aspreviously discussed.

The above disclosure describes specific examples of a process forremoving and installing wear parts. The process includes differentaspects or features of the invention. The features in one embodiment canbe used with features of another embodiment. The examples given and thecombination of features disclosed are not intended to be limiting in thesense that they must be used together.

The invention claimed is:
 1. A mining tool to earth working equipment ina mine to install or remove a wear member, the mining tool comprising atleast one auxiliary tool to hold the wear member, at least onemanipulator movably supporting the at least one auxiliary tool to removethe wear member from the earth working equipment, and a controller tooperate the at least one auxiliary tool and the at least one manipulatorto contact, hold and remove the wear member from the earth workingequipment, wherein the controller is operated at least partiallymanually by a remote user through a wireless signal; and a mobile baseto move the mining tool throughout the mine from a first location remotefrom the earth working equipment to the earth working equipment.
 2. Themining tool in accordance with claim 1 wherein the controller operatesthe at least one manipulator and/or the at least one auxiliary tool tocontact and release a first retainer securing the wear member to theearth working equipment.
 3. The mining tool in accordance with claim 2wherein the at least one auxiliary tool includes a nozzle to spraypressurized fluid to remove fines from the retainer and/or the wearmember.
 4. The mining tool in accordance with claim 2 wherein the atleast one auxiliary tool is operable to remove the retainer from thewear member to release the retainer.
 5. The mining tool in accordancewith claim 2 wherein the at least one auxiliary tool is operable tounscrew at least a portion of the retainer to release the retainer. 6.The mining tool in accordance with claim 1 including an input device forreceiving data regarding the earth working equipment to be used by thecontroller.
 7. The mining tool in accordance with claim 6 wherein theinput device receives information from a wear part monitoring unit onthe earth working equipment.
 8. The mining tool in accordance with claim6 wherein the input device receives data from a database to provide thecontroller with information about at least one of i) the earth workingequipment, ii) the wear members on the earth working equipment, and iii)the wear members that need replacement.
 9. The mining tool in accordancewith claim 1 including at least one sensor to determine the location andorientation of the wear member to be removed.
 10. The mining tool inaccordance with claim 1 wherein the at least one auxiliary tool includesfirst and second arms to contact opposite sides and the rear of the wearmember.
 11. The mining tool in accordance with claim 1 including adisposal stall for receiving the wear member after removal from theearth working equipment.
 12. The mining tool in accordance with claim 1wherein the at least one auxiliary tool and the at least one manipulatorare operable by the controller to install a replacement wear member inplace of the removed wear member.
 13. The mining tool in accordance withclaim 1 wherein there is only one manipulator.
 14. The mining tool inaccordance with claim 1 wherein the controller operates on programmablelogic to at least partially automate the use of the mining tool.
 15. Themining tool in accordance with claim 1, wherein the controller operatesthe at least one manipulator and/or the at least one auxiliary toolincluding a vibrator to apply a vibration to the wear member to easedisengagement of the wear member from the base.
 16. A mining tool toremove a wear member from earth working equipment in a mine, the miningtool comprising at least one auxiliary tool to hold the wear member, atleast one manipulator movably supporting the at least one auxiliary toolto remove the wear member from the earth working equipment, a controllerto operate the at least one auxiliary tool and the at least onemanipulator to contact, hold and remove the wear member from the earthworking equipment, wherein the controller is operated at least partiallymanually by a remote user through a wireless signal, and an input devicefor receiving data regarding the earth working equipment to be used bythe controller, the input device receives data from a database toprovide the controller with information about at least one of i) theearth working equipment, ii) the wear members on the earth workingequipment, and iii) the wear members that need replacement, wherein thecontroller recodes the database details based on processes previouslycompleted by the tool.
 17. A mining tool to remove a wear member fromearth working equipment in a mine, the mining tool comprising at leastone auxiliary tool to hold the wear member, at least one manipulatormovably supporting the at least one auxiliary tool to remove the wearmember from the earth working equipment, a controller to operate the atleast one auxiliary tool and the at least one manipulator to contact,hold and remove the wear member from the earth working equipment,wherein the controller is operated at least partially manually by aremote user through a wireless signal, wherein the controller operatesthe at least one auxiliary tool to move a second retainer to a holdposition to secure the replacement wear member to the earth workingequipment, and a mobile base to move the tool from a first location tothe earth working equipment with the wear member.
 18. A mining tool toremove a wear member from earth working equipment in a mine, the miningtool comprising at least one auxiliary tool to hold the wear member,only one manipulator movably supporting the at least one auxiliary toolto remove the wear member from the earth working equipment, a controllerto operate the at least one auxiliary tool and the at least onemanipulator to contact, hold and remove the wear member from the earthworking equipment, wherein the controller is operated at least partiallymanually by a remote user through a wireless signal, and wherein thecontroller is programmable with the geometry of the replacement wearmember and with where to place the second retainer in the replacementwear member to secure the wear member to the earth working equipment.